package com.zhdl.modules.assemblybolt.web.req;

import lombok.Data;

@Data
public class KuKaRobotCmd {
    //    <ELEMENT Tag="Sensor/PickUp" Set_Flag="1"/>
//			<ELEMENT Tag="Sensor/PickDown" Type="FRAME"/>
//			<ELEMENT Tag="Sensor/PickDownFlag" Set_Flag="2"/>
//			<ELEMENT Tag="Sensor/JigClose" Set_Flag="3"/>
//			<ELEMENT Tag="Sensor/JigOpen" Set_Flag="4"/>
//			<ELEMENT Tag="Sensor/TransportDown" Set_Flag="5"/>
//			<ELEMENT Tag="Sensor/JigClose2" Set_Flag="6"/>
//			<ELEMENT Tag="Sensor/TransportPosition" Type="FRAME"/>
//			<ELEMENT Tag="Sensor/TransportPutDown" Set_Flag="7"/>
//			<ELEMENT Tag="Sensor/JigOpen2" Set_Flag="8"/>
//    String heard = "<Sensor>";

//    String PickDown = "<Sensor>" +
//            "<PickDown x='1419.95' y='829.35' z='1031.62' a='-121.79' b='8.46' c='-179.32'></PickDown>" +
//            "<PickDownFlag>1</PickDownFlag>" +
//            "</Sensor>";
    /**
     * 抓取点上方
     */
    String PickUp = "<Sensor><PickUp>1</PickUp></Sensor>";
    /**
     * 抓取点设置以及动作
     */
    String PickDown = "<Sensor>" +
            "<PickDown X='257.38' Y='1664.92' Z='1121.35' A='-120.95' B='5.44' C='-176.19'></PickDown>" +
            "</Sensor>" +
            "<Sensor><PickDownFlag>1</PickDownFlag></Sensor>";

    /**
     * 抓取点-夹爪闭合
     */
    String JigClose = "<Sensor><JigClose>1</JigClose></Sensor>";
    /**
     * 放料点-夹爪打开
     */
    String JigOpen = "<Sensor><JigOpen>1</JigOpen></Sensor>";
    /**
     * 放料点-动作下u去
     */
    String TransportDown = "<Sensor><TransportDown>1</TransportDown></Sensor>";
    /**
     * 放料点-夹爪闭合
     */
    String JigClose2 = "<Sensor><JigClose2>1</JigClose2></Sensor>";

    /**
     * 设置放料点-动作
     */
    String TransportPutDown = "<Sensor><TransportPosition X='320.70' Y='-1443.88' Z='1175.26' A='-121.02' B='5.68' C='-178.86'></TransportPosition></Sensor>" +
            "<Sensor><TransportPutDown>1</TransportPutDown></Sensor>";
    /**
     * 夹爪打开完成，回原点
     */
    String JigOpen2 = "<Sensor><JigOpen2>1</JigOpen2></Sensor>";
//    String TransportPutDown = "<Sensor><TransportPosition X='320.70' Y='-1443.88' Z='1175.26' A='-121.02' B='5.68' C='-178.86'></TransportPosition><TransportPutDown>1</TransportPutDown></Sensor>".formatted();
}
